CN111536998A - Two-shaft separation type gyroscope calibration device adopting magnetoelectric encoder - Google Patents
Two-shaft separation type gyroscope calibration device adopting magnetoelectric encoder Download PDFInfo
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- CN111536998A CN111536998A CN202010451833.5A CN202010451833A CN111536998A CN 111536998 A CN111536998 A CN 111536998A CN 202010451833 A CN202010451833 A CN 202010451833A CN 111536998 A CN111536998 A CN 111536998A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
A two-axis separation type gyroscope calibration device adopting a magnetoelectric encoder relates to the technical field of instrument calibration. The invention provides a gyroscope calibrating device for solving the problem that the existing gyroscope is not calibrated and has measuring errors. The invention adopts a coupler to coaxially install a magnetoelectric encoder on an X axis and a Y axis of a two-axis gyroscope respectively, the magnetoelectric encoder is enabled to coaxially rotate on the X axis and the Y axis of the two-axis gyroscope driven by a speed-regulating driving motor in sequence, a one-to-one correspondence relationship between an actual angle output value of the magnetoelectric encoder and an actual angle output value obtained by integrating an angular speed AD value of the gyroscope is established, an angle deviation is made into a table and stored in the internal storage of a single chip microcomputer, and the table lookup is used for correcting the angular speed AD value of the gyroscope, thereby realizing the correction of the gyroscope.
Description
Technical Field
The invention relates to the technical field of instrument calibration, in particular to a two-shaft separation type gyroscope calibration device adopting a magnetoelectric encoder.
Background
The gyroscope is used in the navigation field at high frequency due to the advantages of small volume, light weight and the like, the gyroscope needs to measure the speed of an object in the navigation field, however, the misalignment error of an input shaft of the gyroscope on an inertial navigation platform is equivalent to equivalent constant gyroscope drift, a measuring device can only measure the drift of the gyroscope and cannot accurately measure the installation error of the gyroscope, the installation error of the gyroscope has little influence on a medium-precision inertial navigation system, but the equivalent constant drift of the installation error is a non-negligible factor for a high-precision inertial navigation system, and therefore the gyroscope needs to be calibrated before being used. If an object is measured using an uncalibrated gyroscope, the rotational speed of the object from which the gyroscope is measured may have errors that can be eliminated by calibrating the gyroscope.
The magnetoelectric encoder is a novel angle or position measuring device, has the characteristics of vibration resistance, corrosion resistance, pollution resistance, interference resistance and small volume, is widely applied to the fields of mechanical manufacture, industrial control, aerospace, military industry, radar and the like, and generally has higher measuring precision than other calibration instruments.
The traditional calibration mode generally adopts a hexahedron calibration mode. The hexahedron calibration mode is that the product is calibrated on a horizontal table board by manually rotating the hexahedron and matching with a calibration instruction. Its advantages are simple structure and low cost. High precision turrets can now be used to calibrate gyroscopes. The high-precision rotary table is controlled to rotate forwards and reversely at preset rotating speeds, so that the forward rotating speed component on each coordinate axis output by the high-precision rotary table when the gyroscope rotates forwards and reversely along each sensitive axis is obtained, the included angle between each sensitive axis and the standard axis is not larger than a preset threshold value, and the zero offset information and the attitude information of the gyroscope are obtained, so that the gyroscope is calibrated. However, the inventors have found that the above technique has at least the following problems:
for the hexahedral calibration method, the operation is complex firstly. Because the calibration operation has higher requirement on stability, the weight of the hexahedron is generally designed to be heavier, and the manual turnover consumes more physical power. Meanwhile, in the calibration process, an operator needs to complete a series of complex actions of turning the hexahedron by matching with different calibration instructions, the requirement on the operator is high, the operator cannot learn the complex actions in a short time, and even a skilled operator can easily operate the complex actions by mistake to cause calibration failure; secondly, the precision is poor, and because the calibration process is manually completed, the accuracy of each operation cannot be guaranteed. Meanwhile, with the increase of the service time of the hexahedron, abrasion is generated, so that the calibration precision is poorer and poorer; finally, the calibration efficiency is low, and the time required by single calibration is long because the whole calibration process uses manual operation. Meanwhile, considering that the strength of a person is limited, the volume of the hexahedron cannot be too large, resulting in a limited number of products fixed on the hexahedron. Both of these factors result in reduced calibration efficiency.
For the calibration mode of the high-precision rotary table, the precision of the high-precision rotary table is high, so that the price of the high-precision rotary table is very expensive. In addition, the high-precision rotary table is complex to install and strict in requirements on an installation site, so that a common laboratory cannot have the high-precision rotary table and cannot calibrate the gyroscope.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention aims to utilize a two-shaft separated gyroscope calibration device adopting a magnetoelectric encoder, the magnetoelectric encoder is respectively and coaxially installed with an X shaft and a Y shaft of a two-shaft gyroscope, the magnetoelectric encoder is sequentially and coaxially rotated on the X shaft and the Y shaft of the two-shaft gyroscope driven by a speed regulation driving motor, the one-to-one correspondence relationship between the actual angle output value of the magnetoelectric encoder and the actual angle output value integrated by the angular speed AD value of the gyroscope is established, the angle deviation is made into a table and stored in an internal memory of a single chip microcomputer, and the table look-up is used for correcting the angular speed AD value of the gyroscope, so that the correction of the gyroscope is realized. The problems of low calibration efficiency, high cost and complex operation of the two-axis gyroscope are solved, so that the product is more convenient to mount and dismount and has high calibration precision and high calibration speed.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a two-shaft separated gyroscope calibration device adopting a magnetoelectric encoder, which consists of six parts, namely a two-shaft calibration device base body 1, a calibration motor device 2, a calibration speed measuring instrument device 3, a two-shaft gyroscope calibration carrier 4, a magnetoelectric calibration encoder 5 and a coupling group 6; the method is characterized in that: the calibration motor device, the calibration velocimeter device, the two-axis gyroscope calibration carrier and the magnetoelectric calibration encoder are respectively fixedly connected with the two-axis calibration device base body.
Preferably, the two-axis calibration device comprises a calibration motor mounting groove, four mutually symmetrical and identical velocimeter mounting holes a, a velocimeter mounting hole b, a velocimeter mounting hole c, a velocimeter mounting hole d, a calibration carrier mounting groove, two mutually symmetrical and identical encoder mounting holes a and a encoder mounting hole b in sequence from left to right on a base body.
Preferably, the motor calibration device comprises a speed regulation driving motor, a motor support seat, a motor fixing bolt a, a motor fixing bolt b, a motor fixing bolt c and a motor fixing bolt d, wherein the speed regulation driving motor is fixed on the motor support seat through four motor fixing bolts, and the bottom of the motor support seat is glued to the motor calibration mounting groove.
Preferably, the speed measuring instrument calibration device comprises a speed measuring instrument, a speed measuring instrument bolt a, a speed measuring instrument bolt b, a speed measuring instrument base, a speed measuring instrument bolt c and a speed measuring instrument bolt d, wherein the four speed measuring instrument bolts penetrate through the speed measuring instrument base to be connected with four speed measuring instrument mounting holes of the two-axis calibration device base body, so that the speed measuring instrument base is fixed on the two-axis calibration device base body, and the speed measuring instrument is connected with the speed measuring instrument base body in an adhesive mode.
Preferably, the two-axis gyroscope calibration carrier consists of a bearing cover a, an outer ring bearing a, a gyroscope outer ring, a gyroscope inner ring, a gyroscope mounting shaft, an outer ring bearing b, a bearing cover b and a calibration carrier shell, wherein the outer ring bearing a and the outer ring bearing b are respectively and symmetrically fixed in a shell outer ring hole a and a shell outer ring hole b on the calibration carrier shell, the gyroscope comprises a shell, a calibration carrier shell, a bearing cover a, a bearing cover b, an outer ring input shaft, an outer ring output shaft, an inner ring mounting hole a, an inner ring mounting hole b, a fixed shaft a, a fixed shaft b, a two-axis gyroscope module, a gyroscope mounting shaft, a two-axis gyroscope module and a gyroscope module, wherein the bearing cover a and the bearing cover b are symmetrically fixed on the shell outer ring hole a and the shell outer ring hole b on the calibration carrier shell respectively, the outer ring input shaft and the outer ring output shaft are symmetrically connected with the outer ring bearing a and the outer ring bearing b respectively, the inner ring input shaft and the inner ring output shaft symmetrically penetrate through.
Preferably, the magnetoelectric calibration encoder is composed of a magnet steel rotating shaft, magnet steel, a magnetoelectric encoder, an encoder base, an encoder bolt a and an encoder bolt b, wherein the magnet steel rotating shaft is connected with the magnet steel, the magnet steel rotating shaft is connected with the magnetoelectric encoder, the magnetoelectric encoder is fixedly connected with the encoder base, and the encoder bolt a and the encoder bolt b respectively and symmetrically penetrate through bolt holes of the encoder base to be fixedly connected with an encoder mounting hole a and an encoder mounting hole b on the two-axis calibration device base.
Preferably, the two-shaft separation type gyroscope calibration device adopting the magnetoelectric encoder is characterized in that an output shaft of a speed-regulating driving motor is connected with a coupling a, the coupling a is connected with an input shaft of a velocimeter, when the X-shaft gyroscope is calibrated, the output shaft of the velocimeter is connected with a coupling b, an outer ring input shaft and an outer ring output shaft are respectively and symmetrically connected with the coupling b and a coupling c, a magnetic steel rotating shaft is connected with the coupling c, when the Y-shaft gyroscope is calibrated, the output shaft of the velocimeter is connected with a coupling d, an inner ring input shaft and an inner ring output shaft are respectively and symmetrically connected with a coupling d and a coupling e, and the magnetic steel rotating shaft is.
The invention has the beneficial effects that:
1. in a two-axis separation type gyroscope calibration device adopting a magnetoelectric encoder, the calibration of a two-axis gyroscope through a high-precision magnetoelectric encoder is provided, the working precision and the accuracy of the two-axis gyroscope are improved, and a new method is provided for the calibration problem of the gyroscope.
2. The device can realize the calibration of the X-axis gyroscope and the Y-axis gyroscope respectively only by replacing the gyroscope calibration carrier device once, improves the operability of the device, has low requirements on installation sites, is suitable for most experimental environments, has simple installation method and reduces the calibration cost.
3. The device adopts the speed measuring instrument device, and can calibrate the gyroscope under different rotating speed conditions by adjusting the output rotating speed of the speed-regulating driving motor, thereby improving the operability and the accuracy of calibrating the gyroscope.
4. The device adopts the mode of coaxially installing the gyroscope and the magnetoelectric calibration encoder, can effectively reduce power transmission errors, and improves the calibration precision of the gyroscope.
Drawings
FIG. 1: the invention has the overall structure schematic diagram;
FIG. 2 is a drawing: the invention is a partial structure schematic diagram;
FIG. 3: the invention discloses a schematic structural diagram of a base body of a two-axis calibration device;
FIG. 4 is a drawing: the invention relates to a structural schematic diagram of a calibration motor device;
FIG. 5: the invention relates to a schematic structural diagram of a calibrated velocimeter device;
FIG. 6: the invention discloses a magneto-electric calibration encoder structure schematic diagram;
FIG. 7: the invention discloses a schematic diagram of a local structure of a two-axis gyroscope calibration carrier;
FIG. 8: the invention discloses a schematic diagram of a local structure of a two-axis gyroscope calibration carrier;
FIG. 9: the invention discloses a schematic diagram of a local structure of an X-axis calibration tool;
FIG. 10: the invention discloses a partial structure schematic diagram of a Y-axis calibration tool;
in the figure, 1-1, a calibration motor mounting groove, 1-2, tachymeter mounting holes a, 1-3, tachymeter mounting holes b, 1-6, tachymeter mounting holes c, 1-7, tachymeter mounting holes d, 1-4, a calibration carrier mounting groove, 1-5, encoder mounting holes a, 1-6, encoder mounting holes b, 2-1, a speed-regulating driving motor, 2-2, a motor supporting seat, 2-3, motor fixing bolts a, 2-4, motor fixing bolts b, 2-5, motor fixing bolts c, 2-6, motor fixing bolts d, 2-1, a motor output shaft, 3-1, a tachymeter, 3-2, tachymeter bolts a, 3-3, tachymeter bolts b, 3-4 and a tachymeter base, 3-5 parts of tachymeter bolts c and 3-6 parts of tachymeter bolts d, 3-1-1 parts of tachymeter output shafts, 3-1-2 parts of tachymeter input shafts, 4-1 parts of bearing covers a and 4-2 parts of outer ring bearings a and 4-3 parts of gyroscope outer rings, 4-4 parts of gyroscope inner rings, 4-5 parts of gyroscope installation shafts, 4-6 parts of outer ring bearings b and 4-7 parts of bearing covers b and 4-8 parts of calibration carrier shells, 4-3-1 parts of outer ring input shafts, 4-3-2 parts of outer ring output shafts, 4-3-3 parts of inner ring installation holes a and 4-3-4 parts of inner ring installation holes b and 4-4-1 parts of inner ring input shafts, 4-4-2 parts of inner ring output shafts, 4-4-3 parts of gyroscope output shafts, The fixing shaft mounting holes a, 4-4-4, the fixing shaft mounting holes b, 4-5-1, the fixing shafts a, 4-5-2 and the fixing shafts b.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
The structure of the invention is shown in figure 1, figure 2, figure 3, figure 4, figure 5, figure 6, figure 7, figure 8, figure 9 and figure 10.
The invention relates to a two-shaft separated gyroscope calibration device adopting a magnetoelectric encoder, which comprises six parts, namely a two-shaft calibration device base body 1, a calibration motor device 2, a calibration speed measuring instrument device 3, a two-shaft gyroscope calibration carrier 4, a magnetoelectric calibration encoder 5 and a coupling group 6; the method is characterized in that: the calibration motor device 2, the calibration velocimeter device 3, the two-axis gyroscope calibration carrier 4 and the magnetoelectric calibration encoder 5 are respectively and fixedly connected with the two-axis calibration device base body 1.
Further, the two-axis calibration device base body 1 sequentially comprises a calibration motor mounting groove 1-1, four mutually symmetrical and identical velocimeter mounting holes a1-2, a velocimeter mounting hole b1-3, a velocimeter mounting hole c1-6, a velocimeter mounting hole d1-7, a calibration carrier mounting groove 1-4, two mutually symmetrical and identical encoder mounting holes a1-5 and an encoder mounting hole b1-6 from left to right.
Further, the motor calibration device 2 comprises a speed regulation driving motor 2-1, a motor support base 2-2, a motor fixing bolt a2-3, a motor fixing bolt b2-4, a motor fixing bolt c2-5 and a motor fixing bolt d2-6, wherein a motor output shaft 2-1-1 of the speed regulation driving motor 2-1 penetrates through a center hole in the front end face of the motor support base 2-2 to be connected with a coupler a6-1, the front end face of the speed regulation driving motor 2-1 is tightly attached to the motor support base 2-2, a motor fixing bolt a2-3, a motor fixing bolt b2-4, a motor fixing bolt c2-5 and a motor fixing bolt d2-6 penetrate through four bolt holes in the motor support base 2-2 to be connected with four bolt holes in the speed regulation driving motor 2-1, the bottom of the motor supporting seat 2-2 is glued with the calibration motor mounting groove 1-1.
Further, the calibration velocimeter device 3 is composed of a velocimeter 3-1, a velocimeter bolt a3-2, a velocimeter bolt b3-3, a velocimeter base 3-4, a velocimeter bolt c3-5 and a velocimeter bolt d3-6, wherein the four velocimeter bolts c3-5, a velocimeter bolt d3-6, a velocimeter bolt b3-3 and a velocimeter bolt a3-2 penetrate through four bolt holes of the velocimeter base 3-6 to be respectively connected with a velocimeter mounting hole a1-2, a velocimeter mounting hole b1-3, a velocimeter mounting hole c1-6 and a velocimeter mounting hole d1-7 of the two-axis calibration device base 1, and the velocimeter 3-1 is glued to the velocimeter base 3-4.
Further, the two-axis gyroscope calibration carrier 4 consists of a bearing cover a4-1, an outer ring bearing a4-2, a gyroscope outer ring 4-3, a gyroscope inner ring 4-4, a gyroscope mounting shaft 4-5, an outer ring bearing b4-6, a bearing cover b4-7 and a calibration carrier shell 4-8, wherein the outer ring bearing a4-2 and the outer ring bearing b4-6 are respectively and symmetrically fixed in a shell outer ring hole a4-8-1 and a shell outer ring hole b4-8-2, the bearing cover a4-1 and the bearing cover b4-7 are respectively and symmetrically fixed in a shell outer ring hole a4-8-1 and a shell outer ring hole b4-8-2, an outer ring input shaft 4-3-1 and an outer ring output shaft 4-3-2 are respectively and symmetrically connected with the outer ring bearing a4-1, an outer ring bearing a4-1 and a outer ring bearing b 4-1, An outer ring bearing b4-6 is connected, an inner ring input shaft 4-4-1 and an inner ring output shaft 4-4-2 respectively and symmetrically penetrate through an inner ring mounting hole a4-3-3 and an inner ring mounting hole b4-3-4 of a gyroscope outer ring 4-3, a fixed shaft a4-5-1 and a fixed shaft b4-5-2 of a gyroscope mounting shaft 4-5 are symmetrically connected with the fixed shaft mounting hole a4-4-3 and the fixed shaft mounting hole b4-4-4, and a two-axis gyroscope module is mounted in the gyroscope mounting shaft 4-5.
Furthermore, the magneto-electric calibration encoder 5 is composed of a magnetic steel rotating shaft 5-1, magnetic steel 5-2, a magneto-electric encoder 5-3, an encoder base 5-4, an encoder bolt a5-5 and an encoder bolt b5-6, wherein the magnetic steel rotating shaft 5-1 is connected with the magnetic steel 5-2, the magnetic steel rotating shaft 5-1 is connected with the magneto-electric encoder 5-3, the magneto-electric encoder 5-3 is fixedly connected with the encoder base 5-4, and the encoder bolt a5-5 and the encoder bolt b5-6 symmetrically penetrate through bolt holes of the encoder base 5-4 respectively and are fixedly connected with an encoder mounting hole a1-5 and an encoder mounting hole b1-6 on the two-shaft calibration device base 1.
Further, an output shaft 2-1-1 of the speed-regulating driving motor 2-1 is connected with a coupling a6-1, the coupling a6-1 is connected with an input shaft 3-1-2 of the velocimeter 3-1, when an X-axis gyroscope is calibrated, the output shaft 3-1-1 of the velocimeter 3-1 is connected with a coupling b6-2, an outer ring input shaft 4-3-1 and an outer ring output shaft 4-3-2 are respectively and symmetrically connected with the coupling b6-2 and the coupling c6-2, when a Y-axis gyroscope is calibrated, the output shaft 3-1-1 of the velocimeter 3-1 is connected with a coupling d6-4, an inner ring input shaft 4-4-1 and an inner ring output shaft 4-4-2 are respectively and symmetrically connected with a coupling d6-4, And a coupler e6-5 is connected, and a magnetic steel rotating shaft 5-1 is connected with a coupler e 6-5.
The working principle is as follows:
when the X-axis gyroscope is calibrated, namely the gyroscope outer ring 4-3 of the two-axis gyroscope calibration carrier 4 is connected into the system, the speed-regulating driving motor 2-1 is electrified to rotate, the input shaft 3-1-2 of the speed tester 3-1 is driven to rotate through the coupler a6-1, the speed tester 3-1 is used for measuring the input rotating speed, so that the output speed of the speed-regulating driving motor 2-1 is manually regulated to be within the specified calibration rotating speed range, the speed tester output shaft 3-1-1 drives the gyroscope outer ring 4-3 to rotate through the coupler b6-2, the gyroscope inner ring 4-4 is further driven to rotate, and the two-axis gyroscope arranged in the gyroscope mounting shaft 4-5 is simultaneously driven to rotate, at the moment, the outer ring bearing a4-2 and the outer ring bearing b4-6 respectively support the outer ring input shaft 4-3-1, An outer ring output shaft 4-3-2, a bearing cover a4-1 and a bearing cover b4-7 respectively play roles of positioning and sealing an outer ring bearing a4-2 and an outer ring bearing b4-6, the outer ring output shaft 4-3-2 drives a magnetic steel rotating shaft 5-1 to rotate through a coupler c6-3 so as to drive the magnetic steel 5-2 to rotate to generate a magnetoelectric angle signal, the magnetoelectric encoder 5-3 samples the magnetoelectric angle signal to obtain a corresponding angle value, the angle value is synchronously uploaded with an actually output angle value integrated by an angular velocity AD value of an X shaft of the two-shaft gyroscope, a relation corresponding to an actually output angle value integrated by the angular velocity AD value of the X shaft of the gyroscope in a one-to-one manner is established by taking the angle value of the magnetoelectric encoder 5-3 as a reference, the relation is stored in a memory of the single chip microcomputer, the table is looked up to correct the angular velocity AD value, thereby realizing the correction of the gyroscope.
When calibrating a Y-axis gyroscope, when calibrating an X-axis gyroscope, namely, a gyroscope inner ring 4-4 of a two-axis gyroscope calibration carrier 4 is connected into a system, a speed-regulating driving motor 2-1 is electrified to rotate, an input shaft 3-1-2 of a speed-measuring instrument 3-1 is driven to rotate through a coupler a6-1, the speed-measuring instrument 3-1 is used for measuring an input rotating speed, so that the output speed of the speed-regulating driving motor 2-1 is manually regulated to be within a specified calibration rotating speed range, a speed-measuring instrument output shaft 3-1-1 drives the inner ring input shaft 4-4-1 to rotate through a coupler d6-4, further drives a two-axis gyroscope arranged in a gyroscope mounting shaft 4-5 to rotate, the inner ring output shaft 4-4-2 drives a magnetic steel rotating shaft 5-1 to rotate through a coupler e6-5, further drives a magnetic steel 5-2 to rotate, magnetoelectric encoder 5-3 samples magnetoelectric angle signal and obtains the corresponding angle value, and the angle value of actual output that comes with the angular velocity AD value integral of diaxon gyroscope Y axle uploads in step to establish the relation with the actual angle output value one-to-one that comes of the angular velocity AD value integral of gyroscope Y axle with magnetoelectric encoder 5-3's angle value as the benchmark, and the internal memory of singlechip is saved, look up the table and rectify the angular velocity AD value of gyroscope Y axle, thereby realize the correction to the gyroscope.
Claims (7)
1. A two-axis separated gyroscope calibration device adopting a magnetoelectric encoder comprises six parts, namely a two-axis calibration device base body (1), a calibration motor device (2), a calibration speed measuring instrument device (3), a two-axis gyroscope calibration carrier (4), the magnetoelectric calibration encoder (5) and a coupling group (6); the method is characterized in that: the calibration motor device (2), the calibration speed measuring instrument device (3), the two-axis gyroscope calibration carrier (4) and the magnetoelectric calibration encoder (5) are fixedly connected with the two-axis calibration device base body (1) respectively.
2. The two-axis separation type gyroscope calibration device adopting the magnetoelectric encoder according to claim 1, characterized in that: the two-axis calibration device comprises a base body (1) of a calibration motor mounting groove (1-1), four mutually symmetrical and identical velocimeter mounting holes a (1-2), a velocimeter mounting hole b (1-3), velocimeter mounting holes c (1-6) and a velocimeter mounting hole d (1-7), a calibration carrier mounting groove (1-4), two mutually symmetrical and identical encoder mounting holes a (1-5) and an encoder mounting hole b (1-6) in sequence from left to right.
3. The two-axis separation type gyroscope calibration device adopting the magnetoelectric encoder according to claim 1, characterized in that: the calibration motor device (2) is composed of a speed regulation driving motor (2-1), a motor supporting seat (2-2), a motor fixing bolt a (2-3), a motor fixing bolt b (2-4), a motor fixing bolt c (2-5) and a motor fixing bolt d (2-6), wherein a motor output shaft (2-1-1) of the speed regulation driving motor (2-1) penetrates through a center hole in the front end face of the motor supporting seat (2-2) to be connected with a coupler a (6-1), the front end face of the speed regulation driving motor (2-1) is tightly attached to the motor supporting seat (2-2), and the motor fixing bolt a (2-3), the motor fixing bolt b (2-4), the motor fixing bolt c (2-5) and the motor fixing bolt d (2-6) penetrate through four bolt holes in the motor supporting seat (2-2) to be connected with the speed regulation driving motor The four bolt holes of the motor (2-1) are connected, and the bottom of the motor supporting seat (2-2) is glued with the calibration motor mounting groove (1-1).
4. The two-axis separation type gyroscope calibration device adopting the magnetoelectric encoder according to claim 1, characterized in that: the calibration velocimeter device (3) consists of a velocimeter (3-1), a velocimeter bolt a (3-2), a velocimeter bolt b (3-3), a velocimeter base (3-4), a velocimeter bolt c (3-5) and a velocimeter bolt d (3-6), wherein the four tachymeter bolts c (3-5), the tachymeter bolt d (3-6), the tachymeter bolt b (3-3) and the tachymeter bolt a (3-2) penetrate through the four bolt holes of the tachymeter base (3-6) to be respectively connected with a tachymeter mounting hole a (1-2), a tachymeter mounting hole b (1-3), a tachymeter mounting hole c (1-6) and a tachymeter mounting hole d (1-7) of the two-axis calibration device base body (1), and the tachymeter (3-1) is connected with the tachymeter base (3-4) in a gluing mode.
5. The two-axis separation type gyroscope calibration device adopting the magnetoelectric encoder according to claim 1, characterized in that: the two-axis gyroscope calibration carrier (4) consists of a bearing cover a (4-1), an outer ring bearing a (4-2), a gyroscope outer ring (4-3), a gyroscope inner ring (4-4), a gyroscope mounting shaft (4-5), an outer ring bearing b (4-6), a bearing cover b (4-7) and a calibration carrier shell (4-8), wherein the outer ring bearing a (4-2) and the outer ring bearing b (4-6) are respectively and symmetrically fixed on a shell outer ring hole a (4-8-1) and a shell outer ring hole b (4-8-2), the bearing cover a (4-1) and the bearing cover b (4-7) are respectively and symmetrically fixed on the shell outer ring hole a (4-8-1), and an outer ring input shaft (4-3-1), An outer ring output shaft (4-3-2) is symmetrically connected with an outer ring bearing a (4-1) and an outer ring bearing b (4-6) respectively, an inner ring input shaft (4-4-1) and an inner ring output shaft (4-4-2) are symmetrically connected with an inner ring mounting hole a (4-3-3) and an inner ring mounting hole b (4-3-4) of a gyroscope outer ring (4-3) respectively, and a fixed shaft a (4-5-1) and a fixed shaft b (4-5-2) of a gyroscope mounting shaft (4-5) are symmetrically connected with a fixed shaft mounting hole a (4-4-3) and a fixed shaft mounting hole b (4-4-4) respectively.
6. The two-axis separation type gyroscope calibration device adopting the magnetoelectric encoder according to claim 1, characterized in that: the magnetoelectric calibration encoder (5) consists of a magnet steel rotating shaft (5-1), magnet steel (5-2), a magnetoelectric encoder (5-3), an encoder base (5-4), an encoder bolt a (5-5) and an encoder bolt b (5-6), the magnetic steel rotating shaft (5-1) is connected with magnetic steel (5-1), the magnetic steel rotating shaft (5-1) is connected with a magnetoelectric encoder (5-3), the magnetoelectric encoder (5-3) is fixedly connected with an encoder base (5-4), and an encoder bolt a (5-5) and an encoder bolt b (5-6) respectively and symmetrically penetrate through a bolt hole of the encoder base (5-4) to be fixedly connected with an encoder mounting hole a (1-5) and an encoder mounting hole b (1-6) on a base body (1) of the two-axis calibration device.
7. The two-axis separation type gyroscope calibration device adopting the magnetoelectric encoder according to claim 1, characterized in that: an output shaft (2-1-1) of a speed-regulating driving motor (2-1) is connected with a coupling a (6-1), the coupling a (6-1) is connected with an input shaft (3-1-2) of a velocimeter (3-1), when an X-axis screw is calibrated, the output shaft (3-1-1) of the velocimeter (3-1) is connected with a coupling b (6-2), an outer ring input shaft (4-3-1) and an outer ring output shaft (4-3-2) are respectively and symmetrically connected with the coupling b (6-2) and the coupling c (6-2), a magnetic steel rotating shaft (5-1) is connected with the coupling c (6-2), when a Y-axis gyroscope is calibrated, the output shaft (3-1-1) of the velocimeter (3-1) is connected with the coupling d (6-4), the inner ring input shaft (4-4-1) and the inner ring output shaft (4-4-2) are respectively and symmetrically connected with a coupler d (6-4) and a coupler e (6-5), and the magnetic steel rotating shaft (5-1) is connected with the coupler e (6-5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010451833.5A CN111536998B (en) | 2020-05-25 | 2020-05-25 | Two-axis separation type gyroscope calibration device adopting magnetoelectric encoder |
Applications Claiming Priority (1)
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| CN112378419A (en) * | 2020-10-30 | 2021-02-19 | 哈尔滨理工大学 | Magnetoelectric encoder-based dual-axis gyroscope calibration and decoupling method |
| CN112461268A (en) * | 2020-11-23 | 2021-03-09 | 重庆华渝电气集团有限公司 | Position-replacing calibration method of top-of-the-sky and calibration method of double-top navigation equipment |
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